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<div class="header">
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<a href="#nested-classes">Classes</a> &#124;
<a href="#pub-types">Public Types</a> &#124;
<a href="#pub-methods">Public Member Functions</a> &#124;
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Inheritance diagram for ndWorld:</div>
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  <map id="ndWorld_map" name="ndWorld_map">
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a2dda5063df478994d827e7602a849930"><td class="memItemLeft" align="right" valign="top"><a id="a2dda5063df478994d827e7602a849930"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>ndSolverModes</b> { <br />
&#160;&#160;<b>ndStandardSolver</b>, 
<b>ndSimdSoaSolver</b>, 
<b>ndSimdAvx2Solver</b>, 
<b>ndCudaSolver</b>, 
<br />
&#160;&#160;<b>ndOpenclSolver1</b>, 
<b>ndOpenclSolver2</b>
<br />
 }</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
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virtual D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>CleanUp</b> ()</td></tr>
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D_NEWTON_API ndInt32&#160;</td><td class="memItemRight" valign="bottom"><b>GetEngineVersion</b> () const</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>Sync</b> () const</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>Update</b> (ndFloat32 timestep)</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>CollisionUpdate</b> (ndFloat32 timestep)</td></tr>
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virtual D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>OnPostUpdate</b> (ndFloat32 timestep)</td></tr>
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D_NEWTON_API ndInt32&#160;</td><td class="memItemRight" valign="bottom"><b>GetThreadCount</b> () const</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>SetThreadCount</b> (ndInt32 count)</td></tr>
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D_NEWTON_API ndInt32&#160;</td><td class="memItemRight" valign="bottom"><b>GetSubSteps</b> () const</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>SetSubSteps</b> (ndInt32 subSteps)</td></tr>
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D_NEWTON_API ndSolverModes&#160;</td><td class="memItemRight" valign="bottom"><b>GetSelectedSolver</b> () const</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>SelectSolver</b> (ndSolverModes solverMode)</td></tr>
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D_NEWTON_API bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsGPU</b> () const</td></tr>
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D_NEWTON_API <a class="el" href="classnd_scene.html">ndScene</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>GetScene</b> () const</td></tr>
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D_NEWTON_API const char *&#160;</td><td class="memItemRight" valign="bottom"><b>GetSolverString</b> () const</td></tr>
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D_NEWTON_API <a class="el" href="classnd_body_kinematic.html">ndBodyKinematic</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>GetSentinelBody</b> () const</td></tr>
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virtual D_NEWTON_API bool&#160;</td><td class="memItemRight" valign="bottom"><b>AddBody</b> (<a class="el" href="classnd_shared_ptr.html">ndSharedPtr</a>&lt; <a class="el" href="classnd_body.html">ndBody</a> &gt; &amp;body)</td></tr>
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virtual D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>AddModel</b> (<a class="el" href="classnd_shared_ptr.html">ndSharedPtr</a>&lt; <a class="el" href="classnd_model.html">ndModel</a> &gt; &amp;model)</td></tr>
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virtual D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>AddJoint</b> (<a class="el" href="classnd_shared_ptr.html">ndSharedPtr</a>&lt; <a class="el" href="classnd_joint_bilateral_constraint.html">ndJointBilateralConstraint</a> &gt; &amp;joint)</td></tr>
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virtual D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>RemoveBody</b> (<a class="el" href="classnd_body.html">ndBody</a> *const body)</td></tr>
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virtual D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>RemoveModel</b> (<a class="el" href="classnd_model.html">ndModel</a> *const model)</td></tr>
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virtual D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>RemoveJoint</b> (<a class="el" href="classnd_joint_bilateral_constraint.html">ndJointBilateralConstraint</a> *const joint)</td></tr>
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D_NEWTON_API const <a class="el" href="classnd_joint_list.html">ndJointList</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>GetJointList</b> () const</td></tr>
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D_NEWTON_API const <a class="el" href="classnd_model_list.html">ndModelList</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>GetModelList</b> () const</td></tr>
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D_NEWTON_API const <a class="el" href="classnd_body_list_view.html">ndBodyListView</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>GetBodyList</b> () const</td></tr>
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D_NEWTON_API const <a class="el" href="classnd_body_list.html">ndBodyList</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>GetParticleList</b> () const</td></tr>
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D_NEWTON_API const <a class="el" href="classnd_contact_array.html">ndContactArray</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>GetContactList</b> () const</td></tr>
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D_NEWTON_API const <a class="el" href="classnd_skeleton_list.html">ndSkeletonList</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>GetSkeletonList</b> () const</td></tr>
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D_NEWTON_API ndInt32&#160;</td><td class="memItemRight" valign="bottom"><b>GetSolverIterations</b> () const</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>SetSolverIterations</b> (ndInt32 iterations)</td></tr>
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D_NEWTON_API ndFloat32&#160;</td><td class="memItemRight" valign="bottom"><b>GetUpdateTime</b> () const</td></tr>
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D_NEWTON_API ndUnsigned32&#160;</td><td class="memItemRight" valign="bottom"><b>GetFrameNumber</b> () const</td></tr>
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D_NEWTON_API ndUnsigned32&#160;</td><td class="memItemRight" valign="bottom"><b>GetSubFrameNumber</b> () const</td></tr>
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D_NEWTON_API ndFloat32&#160;</td><td class="memItemRight" valign="bottom"><b>GetAverageUpdateTime</b> () const</td></tr>
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D_NEWTON_API ndFloat32&#160;</td><td class="memItemRight" valign="bottom"><b>GetExtensionAverageUpdateTime</b> () const</td></tr>
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D_NEWTON_API <a class="el" href="classnd_contact_notify.html">ndContactNotify</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>GetContactNotify</b> () const</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>SetContactNotify</b> (<a class="el" href="classnd_contact_notify.html">ndContactNotify</a> *const notify)</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>DebugScene</b> (<a class="el" href="classnd_scene_tree_noti_fy.html">ndSceneTreeNotiFy</a> *const notify)</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>SendBackgroundTask</b> (<a class="el" href="classnd_background_task.html">ndBackgroundTask</a> *const job)</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>ClearCache</b> ()</td></tr>
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D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>BodiesInAabb</b> (<a class="el" href="classnd_bodies_in_aabb_notify.html">ndBodiesInAabbNotify</a> &amp;callback, const <a class="el" href="classnd_vector.html">ndVector</a> &amp;minBox, const <a class="el" href="classnd_vector.html">ndVector</a> &amp;maxBox) const</td></tr>
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D_NEWTON_API bool&#160;</td><td class="memItemRight" valign="bottom"><b>RayCast</b> (<a class="el" href="classnd_ray_cast_notify.html">ndRayCastNotify</a> &amp;callback, const <a class="el" href="classnd_vector.html">ndVector</a> &amp;globalOrigin, const <a class="el" href="classnd_vector.html">ndVector</a> &amp;globalDest) const</td></tr>
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D_NEWTON_API bool&#160;</td><td class="memItemRight" valign="bottom"><b>ConvexCast</b> (<a class="el" href="classnd_convex_cast_notify.html">ndConvexCastNotify</a> &amp;callback, const <a class="el" href="classnd_shape_instance.html">ndShapeInstance</a> &amp;convexShape, const <a class="el" href="classnd_matrix.html">ndMatrix</a> &amp;globalOrigin, const <a class="el" href="classnd_vector.html">ndVector</a> &amp;globalDest) const</td></tr>
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<tr class="inherit_header pub_methods_classnd_class_alloc"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classnd_class_alloc')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classnd_class_alloc.html">ndClassAlloc</a></td></tr>
<tr class="memitem:affad975c41ed36eae8c71e3468fc12e3 inherit pub_methods_classnd_class_alloc"><td class="memItemLeft" align="right" valign="top"><a id="affad975c41ed36eae8c71e3468fc12e3"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnd_class_alloc.html#affad975c41ed36eae8c71e3468fc12e3">ndClassAlloc</a> ()</td></tr>
<tr class="memdesc:affad975c41ed36eae8c71e3468fc12e3 inherit pub_methods_classnd_class_alloc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty default constructor. <br /></td></tr>
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<tr class="memitem:a8fea90aa3642db2007a191975bb169ce inherit pub_methods_classnd_class_alloc"><td class="memItemLeft" align="right" valign="top"><a id="a8fea90aa3642db2007a191975bb169ce"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnd_class_alloc.html#a8fea90aa3642db2007a191975bb169ce">~ndClassAlloc</a> ()</td></tr>
<tr class="memdesc:a8fea90aa3642db2007a191975bb169ce inherit pub_methods_classnd_class_alloc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty. <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
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virtual D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>UpdateSkeletons</b> ()</td></tr>
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virtual D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>UpdateTransforms</b> ()</td></tr>
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virtual D_NEWTON_API void&#160;</td><td class="memItemRight" valign="bottom"><b>PostModelTransform</b> ()</td></tr>
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Friends</h2></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>ndScene</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>ndWorldScene</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>ndBodyDynamic</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>ndDynamicsUpdate</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>ndSkeletonContainer</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>ndDynamicsUpdateSoa</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>ndDynamicsUpdateAvx2</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>ndDynamicsUpdateCuda</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>ndDynamicsUpdateOpencl</b></td></tr>
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Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_static_methods_classnd_class_alloc"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classnd_class_alloc')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classnd_class_alloc.html">ndClassAlloc</a></td></tr>
<tr class="memitem:a1f1766c498c6231d24c63582106d2cfc inherit pub_static_methods_classnd_class_alloc"><td class="memItemLeft" align="right" valign="top"><a id="a1f1766c498c6231d24c63582106d2cfc"></a>
D_OPERATOR_NEW_AND_DELETE static D_CORE_API void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnd_class_alloc.html#a1f1766c498c6231d24c63582106d2cfc">Malloc</a> (size_t size)</td></tr>
<tr class="memdesc:a1f1766c498c6231d24c63582106d2cfc inherit pub_static_methods_classnd_class_alloc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generic allocation for any function subclass from <a class="el" href="classnd_class_alloc.html" title="Base class for providing memory allocation for all other engine classes.">ndClassAlloc</a>. <br /></td></tr>
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static D_CORE_API void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnd_class_alloc.html#a5037cbc14d91b2b5e6b5163ed0ef9757">Free</a> (void *const ptr)</td></tr>
<tr class="memdesc:a5037cbc14d91b2b5e6b5163ed0ef9757 inherit pub_static_methods_classnd_class_alloc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generic destruction for any function subclass from <a class="el" href="classnd_class_alloc.html" title="Base class for providing memory allocation for all other engine classes.">ndClassAlloc</a>. <br /></td></tr>
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